Table 5 PID gains of translational and rotational joints
From: Realization of rolling locomotion by a wheel-spider-inspired hexapod robot
| Joint | Proportional gain | Integral gain | Differential gain |
|---|---|---|---|
| Translational joint | 3.50×103 | 1.50×103 | 40.0 |
| Rotational joint | 15.0 | 5.00 | 6.00×10−2 |